ANALYSIS OF TRANSIENT STATES IN THE POWER SUPPLY SYSTEM FOR SELECTED INDUSTRIAL ROBOT

Abstract

Industrial robots are controlled by dedicated controllers, which are powered by single-phase or three-phase power supply system. The main power parameters characterizing the power supply system of these robots are: nominal supply voltage (1-phase: 100-120 V, 200-240 V or 3-phase 200-575 V AC), frequency of the supply voltage (50 or 60 Hz), nominal power consumed by industrial robot. The dynamics of power consumption in the power supply system of controlled robot can be studied by recording instantaneous values of voltages and currents in each phase of the power grid. In this article are presented results for measurements of mentioned instantaneous values for chosen single-phase powered robot, taken by specialized recorder. Obtained measurements from recorder allows to calculate numerically various energetic values in the power supply system of robot: peak-peak values, RMS values, coefficients of deformation and values of harmonic amplitudes (FFT), values of active, reactive and apparent power and the power coefficient (tgϕ). The analysis of waveforms of instantaneous values of voltage and current allows to determine the occurrence of transient states during work of robot axes and characterizing its duration and the range of value changes). Carried out analyses can be using to properly design protection systems of the power supply system, at eventual selection of filters for higher harmonics and to determine effective power consumption of studied robot. The analyses of transient states which occurred during work of studied robot in this publication significantly expand the knowledge about the dynamics of power consumption and its possible impact on the quality of electricity in the power supply grid.